distill-lagat/.github/workflows/ci.yml at main · proroklab/distill-lagat · GitHub

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name: CI

on:
  push:
    branches:
      - main
    paths:
      - 'src/**'
      - 'tests/**'
      - '.github/**'

jobs:
  ci:
    runs-on: ubuntu-latest

    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive
      - name: Install uv
        uses: astral-sh/setup-uv@v6
        with:
          enable-cache: true
      - name: Install the project
        run: uv sync --locked --all-extras --dev
        #
      - name: Cache libtorch
        id: cache-libtorch
        uses: actions/cache@v4
        with:
          path: libtorch
          key: libtorch-${{ runner.os }}-1.13.1-cxx11-shared-cpu
      - name: Download libtorch (CPU)
        if: steps.cache-libtorch.outputs.cache-hit != 'true'
        run: |
          set -eux
          url="https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-1.13.1%2Bcpu.zip"
          curl -L "$url" -o libtorch.zip
          unzip -q libtorch.zip
          rm libtorch.zip
          #
      - name: Pytest
        env:
          CMAKE_PREFIX_PATH: ${{ github.workspace }}/libtorch
        run: |
          uv run pytest -s -m "not lagat"
        #
      - name: Collect raw data
        run: uv run python scripts/collect_expert_trajectories.py
      - name: Create dataset
        run: uv run python scripts/convert_to_imitation_dataset.py
      - name: Train model
        run: uv run python scripts/train.py
      - name: Evaluate model
        run: uv run python scripts/eval_model.py
        #
      - name: Build C++ LaGAT
        env:
          CMAKE_PREFIX_PATH: ${{ github.workspace }}/libtorch
        run: |
          scripts/build_cpp.sh --planner-lagat
      - name: Run planner
        run: |
          latest=$(ls -t outputs/train/ | tail -1)
          build/lagat/main \
          -v 3 \
          -m assets/empty-8-8.map \
          -o result.txt \
          -t 10 \
          -N 2 \
          --model outputs/train/$latest/loss_best_jit.pt